WO2018202483A1 - Verfahren und system zum betrieb eines automatisch geführten transportfahrzeugs für container - Google Patents
Verfahren und system zum betrieb eines automatisch geführten transportfahrzeugs für container Download PDFInfo
- Publication number
- WO2018202483A1 WO2018202483A1 PCT/EP2018/060516 EP2018060516W WO2018202483A1 WO 2018202483 A1 WO2018202483 A1 WO 2018202483A1 EP 2018060516 W EP2018060516 W EP 2018060516W WO 2018202483 A1 WO2018202483 A1 WO 2018202483A1
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- WIPO (PCT)
- Prior art keywords
- transport vehicle
- vehicle
- transport
- tractor
- trailer
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005452 bending Methods 0.000 claims description 17
- 230000032258 transport Effects 0.000 description 159
- 238000012546 transfer Methods 0.000 description 8
- 230000001419 dependent effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
- B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
Definitions
- the invention relates to a method for operating an automatically guided vehicle
- Transport vehicles for containers in the context of the present invention are known for example from DE 10 2012 108 768 A1.
- Transport vehicles include a tractor and a trailer that together form a articulated trailer.
- the trailer has a
- the loading area is usually limited at its sides by guide elements.
- the guide elements are also referred to as a referrer.
- Such a team can be designed in particular as a semitrailer.
- Such transport vehicles are usually used only inside terminals for the handling of containers, in particular ISO containers, but not in public transport. Accordingly, such containers are usually used only inside terminals for the handling of containers, in particular ISO containers, but not in public transport. Accordingly, such containers are usually used only inside terminals for the handling of containers, in particular ISO containers, but not in public transport. Accordingly, such containers are usually used only inside terminals for the handling of containers, in particular ISO containers, but not in public transport. Accordingly, such containers, in particular ISO containers, but not in public transport. Accordingly, such
- Transport vehicles are internal transport vehicles, also referred to as Terminal Truck or Terminal Tractor.
- the handling equipment can be, for example, gantry cranes or gantry cranes.
- container bridges in the case of a terminal designed as a terminal, containers are transhipped between a ship and a corresponding transport vehicle.
- the gantry cranes containers are loaded or unloaded into a warehouse of the container terminal and hereby taken up by the loading area of a corresponding transport vehicle or parked on it. In the warehouse, the containers are stored before being transported by ship or in public transport by truck or in the
- the aforementioned internal transport vehicles can be managed manually and Accordingly, in particular when accelerating, braking and steering usually driving riders are actively controlled manually.
- manually guided transport vehicles have a corresponding vehicle control and usually also a driver's cab, from which a manual intervention in the vehicle control can take place for manual guidance.
- the internal transport vehicles can also be automatically guided and accordingly controlled in particular during acceleration, braking and steering in the sense of so-called Automated Guided Vehicles (AGV).
- AGV Automated Guided Vehicles
- automatically guided transport vehicles on a suitable vehicle control so that no active manual intervention of a rider driving is required or possible due to the automatic control or navigation taking place over this.
- an automatically guided transport vehicle can also be manned when a driver drives, but this does not have to actively intervene in the sense of a driver in the control of the transport vehicle or can.
- Transport vehicles are not considered as automatically guided, but as manually guided vehicles.
- a manually guided team consisting of a towing vehicle and a trailer is also known from the German patent application DE 10 2004 009 187 A1. Only in the special case of a reverse drive can for the purpose of a
- Frame support an automatic assistance function can be used.
- German patent application DE 10 2015 217 555 A1 discloses a team of a car and a trailer.
- a reference trajectory is compared with a desired trajectory to assist the driver during driving maneuvers.
- DE 10 2014 1 14 812 A1 a device for determining a bending angle between the towing vehicle and the trailer is described with reference to a trailer manually controlled by a driver with a towing vehicle and a trailer coupled thereto.
- Transport vehicle for containers which is automatically feasible both during forward travel and during a reverse drive and having a tractor and a trailer with a loading area for at least one container, wherein the transport vehicle, in particular the tractor, having a vehicle control to automatically steering and a traction drive of
- each desired route is predetermined automatically in this way.
- the predetermined desired route is here preferably via a wireless communication link to the
- the transport vehicle is designed as a tractor-trailer with a terminal truck as a tractor, so that the trailer is designed as a semi-trailer.
- Transport vehicles all driving maneuvers are performed automatically and not just individual driving maneuvers such as parking operations in
- Trajectory is understood to mean the path of movement of the transport vehicle, also referred to as the movement path, or of a vehicle-fixed point defined on the transport vehicle during a driving maneuver.
- the vehicle maneuver may in particular comprise one or more straight-ahead drives and / or one or more cornering drives with different curve radii. Part of each trajectory is thus a sequence of different position points of the
- Vehicle kinematics that is of kinematic boundary conditions of the respective transport vehicle, and thus of geometric relationships such as lengths, widths and in particular the bending angle of the transport vehicle or the articulated combination of tractor and trailer.
- the bending angle results at a steering angle not equal to zero and is accordingly dependent on the steering angle.
- the determination and consideration of the trajectories is thus based on and thus taking into account the kinematic boundary conditions of the respective transport vehicle.
- the consideration of the trajectory taking into account the kinematic boundary conditions of the transport vehicle, in particular the articulated combination of the tractor and the trailer of the transport vehicle takes place. This makes a particularly accurate and thus safe automatic guidance of the transport vehicle possible. It is also advantageously provided that different trajectories are determined for different transport vehicles and different target routes are specified. This will increase the accuracy of automatic guidance of the
- Transport vehicles further increased because the specific for different transport vehicles kinematic boundary conditions, in particular due to
- the predetermined desired route with actual values of a position and orientation or orientation of the transport vehicle in particular within the operating range of a terminal for handling containers, and a deviation of the actual values from the desired route is reduced by appropriate control of the steering and / or the traction drive.
- Tractor and the trailer are determined.
- the position of the tractor as described in more detail below by means of known methods,
- the transponder navigation are determined. On this basis, then based on the determined kink angle and known dimensions of tractor and trailer, the position and orientation of the entire
- Transport vehicle including the trailer can be determined. At the
- Tractor is provided for this purpose a suitable sensor for determining an actual value of the bending angle.
- the determination of an actual value of the bending angle may also include the determination of the steering angle of the tractor and the rotational speed of the wheels of an axle of the trailer via a respective sensor.
- a steering angle is set in dependence of an actual value of a bending angle between the tractor and the trailer. In this way, the deviation of the actual values of the position and orientation from the desired route can be reduced and thus the actual values approach the target values.
- a system for operating at least one automatically guided transport vehicle for containers comprising a guidance system and at least one transport vehicle for containers, both during a
- Forward travel as well as during a reverse drive is automatically feasible and having a tractor and a trailer with a cargo area for at least one container, wherein the transport vehicle, in particular the tractor, having a vehicle control to automatically a steering and a To drive drive of the transport vehicle so that the transport vehicle follows a target route, thereby improving that the control system is designed and configured to preset the target route, preferably automatically, taking into account a trajectory of the transport vehicle and to transmit to the vehicle control.
- the control system is computer-aided for this purpose and accordingly has a navigation computer with a computing unit including a memory unit.
- the system in particular the control system and the vehicle control, is designed and set up to carry out a method according to one of the preceding claims.
- FIG. 1 shows a schematic side view of a transport vehicle for containers
- FIG. 2 shows a schematic plan view of the transport vehicle according to FIG. 1 during a cornering
- Figure 3 is a schematic view of a terminal for handling containers with transport vehicles for containers according to Figure 1 and
- FIG. 4 shows a schematic view of an alternative terminal for handling containers with transport vehicles for containers according to FIG. 1.
- FIG. 1 shows a schematic side view of an automatically guided transport vehicle 1 for container 12, which is used in a terminal 9 for the handling of containers 12 (see Figures 3 and 4).
- the transport vehicle 1 is exemplified as a semitrailer and accordingly includes a also referred to as terminal truck tractor 1 a and a hinged thereto
- Such articulated vehicles have a gross draw weight of up to 200 t in the heavy-duty version.
- the transport vehicle 1 is free of wheels 2 on a corridor surface 3 and thus floor bound, but not rail bound movable. Accordingly, the transport vehicle 1 is to be distinguished from rail vehicles.
- the wheels 2 are each provided with a tire, which preferably filled with air
- the transport vehicle 1 comprises a travel drive with at least one motor designed as an electric motor and a transmission in order to drive the wheels 2 over this.
- the engine and the transmission are not shown for clarity. Basically, an internal combustion engine is conceivable instead of an electric motor.
- the wheels 2 are arranged in the usual way on two axles 4a, 4b in the region of the tractor 1 a. If the transport vehicle 1 is designed as a semitrailer, wheels 2 are also arranged on at least one further third axis 4c of the trailer 1 b designed as a semi-trailer. Basically it is also possible to change other axle numbers and
- axle assemblies with a corresponding number of wheels 2, if this is technically necessary.
- the transport vehicle 1 or its tractor 1 a comprises a chassis 6, on which the wheels 2 are mounted on the front first axle 4a and the rear second axle 4b. At least some of the wheels 2 mounted on the tractor 1 a, for example the wheels 2 mounted on the front axle 4 a, are steerable to enable cornering of the transport vehicle 1. This is shown schematically in Figure 2, which is a schematic plan view of the
- Transport vehicle 1 shows during cornering.
- a kink angle a1 not equal to zero.
- the bending angle a1 is thus defined as the angle by which the longitudinal axis L1 a of the tractor 1 a during cornering of the transport vehicle 1 with respect to the longitudinal axis L1 b of the
- Trailer 1 b is deflected.
- About a steering of the tractor 1 a can be a steering angle a2 of the wheels 2 with respect to the longitudinal axis L1 a of the tractor. 1 be changed in order to change over this the bending angle a1.
- both the bending angle a1 and the steering angle a2 are equal to zero.
- the bending angle a1 the steering angle a2
- Tractor 1 a to a suitable and known sensor 15.
- the kink angle a1 can also in a conventional manner from measuring signals of a
- Sensors 16 for determining the steering angle a2 and sensors 17 for determining rotational speeds of the opposite wheels 2 of the axle 4c of the trailer 1 b are calculated.
- the trailer 1b may also have more than one axis 4c.
- a computing unit with a memory unit can also be provided.
- the arithmetic unit can be part of
- a fifth wheel plate 7 is arranged, which is part of a fifth wheel.
- the fifth wheel plate 7 can be raised and lowered by means of a hydraulic drive so that the tractor 1 a can actively and independently engage or disengage the trailer 1 a.
- the hydraulic stroke of the fifth wheel plate 7 makes it possible to lift fifth wheels up to 45 liters.
- a different coupling and uncoupling of the trailer 1 b without hydraulic Hubongkeit is conceivable, for example, by a manually operable coupling mechanism.
- the fifth wheel plate 7 may also be designed such that no regular separation of tractor 1 a and
- Trailer 1 b is provided and thus tractor 1 a and trailer 1 b permanently connects to a fixed unit in the form of a semitrailer.
- the chassis 6 carries a battery 8, which feeds the electric motors or the traction drive of the transport vehicle 1 and is moved with this.
- the battery 8 is preferably designed as a rechargeable lithium-ion battery or as a lead battery and above the chassis 6 or below it, for example, between the two axes 4a, 4b arranged to allow easy replacement with a charged battery 8.
- an additional battery 8 for feeding the traction drive can also be arranged on the trailer 1 b and for this purpose be electrically connected to the traction drive.
- Trained as a trailer trailer 1 b has no on the tractor 1 a facing front end arranged, but only one or more rear axles 4c, which are mounted on the side remote from the tractor 1 a end under a frame 10 of the trailer 1 b.
- a kind of front axle of the trailer 1 b is formed by the rear axle 4 b of the tractor 1 a.
- the trailer 1 b not shown and at its the tractor 1 a facing the front end arranged supports. The supports are for
- Trailer 1 b provided on the tractor 1 a.
- the trailer 1 b has no own drive.
- two containers 12 designed as ISO containers with a length of approximately 20 feet are placed one after the other on the loading area 11.
- ISO containers in the sense defined above have standardized corner fittings.
- Lifting means of a crane are taken to lift the ISO container from the loading area 1 1 or turn off on this.
- the loading area 1 1 on their sides by a plurality of guide elements 1 1 a limited.
- the guide elements 1 1 a have this guide surfaces with an oblique course.
- the guide surfaces extend from the loading surface 1 1 upwards and outwards and to the loading area 1 1 down and inside.
- the guide surfaces extend from the loading surface 1 1 upwards and outwards and to the loading area 1 1 down and inside.
- Guide elements 1 1 a in pairs on opposite sides, in particular longitudinal sides and / or narrow sides, the loading area 1 1 arranged.
- Guide surfaces of a pair of guide elements 1 1 a form a kind of funnel whose oblique course tapers to the loading area 1 1, in order to realize the guiding and alignment function. Accordingly, the guide surfaces of a pair of guide elements 1 1 a extend from the loading surface 1 1 upwards directed away.
- the transport vehicle 1 is automatically guided in the sense defined above and for this purpose has a vehicle control 13, shown schematically in FIG. 1, which also serves as a navigation system. Furthermore, the transport vehicle 1 can optionally also be manually guided or controlled within the respective terminal 9 by a driver in the above-defined sense, so that a change between manual and automatic guidance of the transport vehicle 1 is also conceivable.
- a driver's cab 5 with corresponding control means for manual intervention in the vehicle control 13 is arranged in the front region of the tractor 1 a.
- the driver's cab 5 as shown in Figure 1 remain driverless or even be omitted.
- FIG. 3 shows a schematic view of a terminal 9 for the transfer of
- Containers 12, in the transport vehicles 1 are used according to Figure 1, in plan view.
- the terminal 9 is exemplified as a port terminal.
- a plurality of vessels 22 can be created at a quay 9a of a port in order to deliver or pick up containers 12.
- container bridges 23 are provided on the quay, which are also referred to as ship-to-shore cranes - short: STS crane - and their boom on the one hand on the ships 22 and on the other hand via the quay 9a extend.
- the loading or unloading of the ships 22 can also take place via so-called harbor cranes, the boom of which is pivoted about a vertical axis via the corresponding ship 22.
- the terminal 9 is surrounded in the usual manner in the sense of a demarcated operating range of a trained example as a fence or wall boundary 19 and hereby from its external environment and thus public transport outside the terminal 9 and there driving external transport vehicles 25, such as conventional trucks separated ,
- the terminal 9 can only be reached via passing areas 18 in order to pick up or deliver containers 12.
- each Passier Schemes 18 may also each have a security lock for Logging in and out including an identification of the incoming and outgoing external vehicles and their drivers be provided.
- the terminal 9 within the boundary 19 comprises a container storage 20 in which containers 12 can be stacked for temporary storage in at least one storage area 20a, also referred to as a stack. This may be the case after the containers 12 have been unloaded from the vessels 22 and before they have been loaded onto or received from a road vehicle or transport vehicle 25 or rail vehicle for further transport outside the terminal 9 and before being loaded onto the ships 22 become.
- the area 3, which covers quay 9a of the port, is occupied by internal traffic not designed and approved for public transport
- Transport vehicles 1 in order to transport, for example, the container 12 designed as an ISO container between the container bridges 23 and the gantry cranes 21 of the container storage 20 of the terminal 9 serving as container stacking cranes.
- the container storage 20 in such a terminal 9 comprises a plurality of storage areas 20a, each row-like or grid-like
- Storage area 20a a plurality of rows of containers 12 with their long sides next to each other and each row a plurality of containers 12 are placed one above the other. To manage the container storage 20 or the respective
- Storage areas 20a that is for the local storage and retrieval of containers 12, is per storage area 20a of the container storage 20 at least one corresponding
- Gantry crane 21 provided to container 12 for storage or retrieval in the
- a plurality of storage areas 20a are provided in such a terminal 9, which are each operated for local storage and retrieval of containers 12 of at least one designed as a gantry crane 21 stacker crane.
- the handling equipment performing gantry cranes 21 span with their carried by portal supports crane girders the
- Transport vehicles 1 in the manual variant of the transport vehicle 1 with driver's cab 5 described in FIG. 1 can additionally or alternatively operate in the terminal 9 within the automatically guided variant.
- a transport of the container 12 takes place between the container storage 20 and its
- Container 12 is picked up from the container storage 20 or its handling device for further transport in public transport or delivered to a transport in public transport for temporary storage in the container warehouse 20. These transports take place in a so-called horizontal traffic.
- the gantry cranes 21 associated with the storage areas 20a as handling devices are designed in FIG. 3 as so-called rubber-tired stackable cranes (RTGs) or rail-mounted gantry cranes (RMGs), which are either of an inline type be manually guided or controlled by a person traveling with a crane cab or (partly) automatically guided or controlled.
- RMGs rubber-tired stackable cranes
- RTGs rail-mounted gantry cranes
- the terminal 9 shown schematically in Figure 3 is also referred to as RMG or RTG terminal.
- this type of terminal between the parallel to the edge of the running quay 9a extending storage areas 20a rectilinear and grid-shaped arranged single or multi-lane L, Q provided, in which the internal transport vehicles 1 and on the Passier Scheme 18 in the terminal 9 on and outgoing external transport vehicles 25 can run.
- the loading and unloading of the transport vehicles 1, 25 through the gantry 21st takes place in the along the longitudinal sides leading longitudinal lanes L of the storage areas 20a.
- transfer tracks or transfer area 26 serving lanes for the transport vehicles 1, 25, which are also spanned by the respective gantry crane 21.
- Gantry cranes 21 a plurality of longitudinally adjacent storage areas 20a, which are spaced from each other by a transverse lane Q, and manage this one or more cross streets Q run over.
- each storage area 20a can be assigned at least one gantry crane 21.
- the area of the quay 9a with the handling equipment there can be reserved for the internal transport vehicles 1, which is why corresponding barriers or pass areas with security locks can be provided inside the terminal 9. This is indicated by the dashed line in FIG.
- FIG. 4 shows an alternative terminal 9, which is designed as a so-called ASC terminal.
- the gantry cranes 21 of the container storage 20 are designed here as so-called automated and rail-mounted stacker cranes, which are also referred to as Automated Stacking Crane - short: ASC.
- ASC Automated Stacking Crane - short
- the routes 24 for the ASCs include rails on which the respective ASC method and between the paired arrangement each have a storage area 20a is arranged. These lanes are not intended for a transit of the transport vehicles 1 and 25 and for this purpose usually too narrow.
- the storage areas 20a also do not extend along and in particular parallel, but usually transversely and in particular perpendicular to the quay 9a. Also the gantry cranes 21 proceed
- the container store 20 of the ASC terminal has no transfer tracks or transfer areas 26 arranged on the longitudinal sides of the storage areas 20a. Instead, at the longitudinally facing longitudinal ends of the respective storage area 20a Head-side transfer areas 26 are provided.
- Such ASC terminal comprises a relative to the container storage 20 water-side or kai detergent envelope area, by the above-described embodiment of the ASC terminal and the container storage 20 in the regular operation of the terminal 9 of the land-side transport external transport vehicles 25 in the landside
- Envelope area is separated. Only in special cases, for example for maintenance or repair purposes, vehicles can run between the water-side cargo area and the land-side cargo area, for which then streets with sufficient width can be used.
- the transport vehicles 25 use for the entry into the landside cargo handling area or the exit from this a Passier Scheme 18 in the above sense.
- Envelope area can also internal manually guided transport vehicles 1 in mixed traffic with external manually guided transport vehicles 25 are used to ensure, for example, a connection of a rail terminal within the terminal 9.
- the internal transport vehicles 1 may not drive in any of the above-described terminals 9 through the respective Passier Scheme 18, as they may not enter the public transport outside of the terminal 9 and can be operated only within the terminal 9 as intended. Excluded from this is leaving the water-side envelope area and leaving the landside cover area or the terminal 9, for example, for maintenance or repair purposes, which is not as
- a computer-aided control system 14 is provided, via which transport orders for the internal transport vehicles 1 are planned, managed and used for route planning and route monitoring. Also, the storage or management of the Container storage 20 via the control system 14 and its
- the routes to be traveled for the execution of transport orders are generated in the sense of desired routes by means of the control system 14 and transmitted via wireless communication links, for example in the form of WLAN connections, to the transport vehicles 1 or their vehicle control 13.
- the desired routes can consist of several
- Route monitoring is carried out by the control system 14 preferably also a continuous processing of the time-varying positions and orientations of the transport vehicles 1 located in the terminal 9 and others
- control system 14 can dynamically block or release areas, in particular individual lanes in the sense of restricted areas, and thus ensure that only one unit is present in a given area
- Transport vehicle 1 is located.
- the implementation in driving maneuvers includes the required driving specifications in the form of target values for the control of the traction drive and / or the steering of the respective transport vehicle 1.
- vehicle control 13 so steering operations and speeds and
- the desired routes or their individual sections are preferably predetermined automatically by the control system 14, wherein at least one previously determined trajectory of the respective transport vehicle 1 during a
- Trajectory referred to movement path of the transport vehicle 1 or defined on the transport vehicle 1 vehicle-fixed point during a
- the vehicle maneuver may in particular comprise one or more straight-ahead drives and / or one or more cornering drives with different curve radii. Part of each trajectory is thus a sequence of different position points of the transport vehicle 1 during a particular maneuver.
- the respective trajectory of a transport vehicle 1 is dependent in particular on the vehicle kinematics, that is to say on the kinematic boundary conditions of the respective transport vehicle 1, and thus on
- Steering angle a2 is not equal to zero and is accordingly dependent on the steering angle a2.
- the determination and consideration of the trajectories thus takes place on the basis and thus taking into account the kinematic boundary conditions of the respective transport vehicle 1.
- the trajectories can be used in particular for different driving maneuvers with possible cornering with different curve radii and speeds and correspondingly different steering angles a2 and associated
- Steering steering but also be determined with straight-ahead driving.
- the determination of the trajectories can be based, for example, on an envelope examination.
- the influence of other boundary conditions such as the transported or transported load to the respective trajectory in corresponding maneuvers can be considered.
- the load or at least the presence of a load can be detected in different ways.
- the vehicle states "loaded” or "unloaded” can be stored as parameters in the control system 14 and taken into account accordingly.
- the transport vehicle 1 with be equipped with a suitable measuring device in order to determine an accurate load value.
- deposited which curve radii a particular transport vehicle 1 or a specific tractor 1 a with a particular trailer 1 b can drive conflict-free without, for example, to get to other lanes and how this must be directed, for example, forward or backward and this straight or in one Curve to drive while doing within the
- connection the trajectory and / or the currently predetermined target route of at least one other transport vehicle 1 is taken into account in order to avoid conflicts between the trajectories and / or the desired routes of several transport vehicles 1.
- the possible for a particular transport vehicle 1 trajectories can then be specified by the control system 14 for each transport vehicle 1, an individual target route and transmitted to the vehicle controller 13, wherein the desired route corresponds to a possible for the transport vehicle 1 trajectory , This ensures that only such desired routes are given, which can be followed by the respective transport vehicle 1 without conflict along a possible trajectory.
- the actual state In order to be able to purposefully control the travel drive and the steering within the scope of an automated operation of the transport vehicle 1, the actual state must also be in the sense of actual values of the position and orientation or orientation of the transport vehicle 1 to the control system 14 and / or the vehicle control system 13 be reported back.
- the values of the bending angle a1, steering angle a2 and rotational speeds of the corresponding wheels 2 determined by the sensors 15, 16 and 17 are also evaluated by the vehicle control system 13 and / or the control system 14.
- Actual values of position and orientation or orientation of the tractor 1 a can be determined for example by means of a positioning system that uses transponder technology.
- the position of the tractor 1 a can be calculated via one or two attached to the tractor 1 a antennas relative to two attached to the hall floor 3 transponders.
- Other locating systems for determining the position and orientation of the tractor 1 a are conceivable, for example, D-GPS / Long Position Radar - short: LPR -, the tractor 1 a is provided with two antennas and distances relative to serving as placemarks stationary LPR Transponders are measured to calculate the position and orientation / orientation.
- Dimensions of the trailer 1 b can then also the position and orientation of the trailer 1 b and thus an actual value of the position and orientation / orientation of the entire transport vehicle 1 are determined.
- Deviations of this comparison are reduced by appropriate control of the steering and / or the traction drive in terms of control of the steering and / or the traction drive, so that the transport vehicle 1 follows the target route with the least possible deviation in the sense of automatic guidance.
- any errors of the sensors are to be considered, since errors have a great influence here, which can lead to a large deviation of the aforementioned actual values of the target route.
- the drivers can receive driving instructions via a driver information system of the transport vehicle 1 and based on the desired routes predetermined by the guidance system 14.
- the Driving instructions must then be converted by the driver by manual intervention in the vehicle control 13 in corresponding driving maneuvers.
- the driving directions can also be adapted continuously, taking into account and thus depending on the actual state, in particular if a driver does not follow the driving instructions based on a predetermined target route or not within a predefinable tolerance.
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880029911.3A CN110622082B (zh) | 2017-05-05 | 2018-04-25 | 用于操作用于集装箱的自动引导的运输车辆的方法和*** |
KR1020197033333A KR102525283B1 (ko) | 2017-05-05 | 2018-04-25 | 컨테이너 자동 안내 운송 차량을 작동시키기 위한 방법 및 시스템 |
EP18720580.2A EP3619586B1 (de) | 2017-05-05 | 2018-04-25 | Verfahren und system zum betrieb eines automatisch geführten transportfahrzeugs für container |
US16/611,079 US11269359B2 (en) | 2017-05-05 | 2018-04-25 | Method and system for operating an automatically guided transport vehicle for containers |
AU2018263586A AU2018263586B2 (en) | 2017-05-05 | 2018-04-25 | Method and system for operating an automatically guided transport vehicle for containers |
SG11201909729Q SG11201909729QA (en) | 2017-05-05 | 2018-04-25 | Method and system for operating an automatically guided transport vehicle for containers |
ES18720580T ES2882903T3 (es) | 2017-05-05 | 2018-04-25 | Método y sistema para operar un vehículo de transporte guiado automáticamente para contenedores |
Applications Claiming Priority (2)
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DE102017109731.7A DE102017109731A1 (de) | 2017-05-05 | 2017-05-05 | Verfahren und System zum Betrieb eines automatisch geführten Transportfahrzeugs für Container |
DE102017109731.7 | 2017-05-05 |
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EP (1) | EP3619586B1 (de) |
KR (1) | KR102525283B1 (de) |
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AU (1) | AU2018263586B2 (de) |
DE (1) | DE102017109731A1 (de) |
ES (1) | ES2882903T3 (de) |
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DE102018130585A1 (de) * | 2018-11-30 | 2020-06-04 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerloses Transportfahrzeug sowie Verfahren zum Bewegen eines Sattelaufliegers durch ein fahrerloses Transportfahrzeug |
US11392141B2 (en) * | 2019-01-17 | 2022-07-19 | United States Postal Service | Methods and systems for coordinating cargo delivery, pick up, and transportation |
US11226623B2 (en) * | 2019-04-03 | 2022-01-18 | Waymo Llc | Detection of anomalous trailer behavior |
CN111252078B (zh) * | 2020-03-02 | 2021-05-04 | 合肥工业大学 | 用于无铰接角度传感器的半挂汽车列车倒车轨迹预测方法 |
CN111854782A (zh) * | 2020-06-22 | 2020-10-30 | 北京九曜智能科技有限公司 | 一种可实现自动脱挂钩脱挂的路径规划的方法 |
DE102020119318A1 (de) * | 2020-07-22 | 2022-01-27 | Zf Cv Systems Global Gmbh | Verfahren zum Koordinieren eines Fahrzeuges auf einem Betriebshof, sowie Funktions-Steuereinrichtung und Fahrzeug |
WO2022173457A1 (en) * | 2021-02-10 | 2022-08-18 | Stoneridge Electronics Ab | Camera assisted docking system for commercial shipping assets in a dynamic information discovery protocol environment |
CN116534123B (zh) * | 2023-07-04 | 2023-09-29 | 深圳海星智驾科技有限公司 | 挂车横向控制方法、装置以及目标挂车 |
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Also Published As
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US11269359B2 (en) | 2022-03-08 |
KR102525283B1 (ko) | 2023-04-24 |
CN110622082B (zh) | 2023-02-03 |
AU2018263586A1 (en) | 2019-11-07 |
AU2018263586B2 (en) | 2022-12-01 |
KR20190141693A (ko) | 2019-12-24 |
EP3619586B1 (de) | 2021-06-09 |
EP3619586A1 (de) | 2020-03-11 |
SG11201909729QA (en) | 2019-11-28 |
CN110622082A (zh) | 2019-12-27 |
SG10201912697VA (en) | 2020-02-27 |
DE102017109731A1 (de) | 2018-11-08 |
US20200150686A1 (en) | 2020-05-14 |
ES2882903T3 (es) | 2021-12-03 |
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